Development and Validation of a Piloted Simulation of a Helicopter and External Sling Load

摘要

A generalized, real-time, piloted, visual simulation of a single-rotor helicopter, suspension system, and external load is described and validated for the full flight envelope of the U.S. Army CH-54 helicopter and cargo container as an example. The mathematical model described uses modified nonlinear classical rotor theory for both the main rotor and tail rotor, nonlinear fuselage aerody¬namics, an elastic suspension system, nonlinear load aerodynamics, and a load-ground contact model. The implementation of the mathematical model on a large digital computing system is described, and validation of the simulation is dis¬cussed. The mathematical model is validated by comparing measured flight data with simulated data, by comparing linearized system matrices, eigenvalues, and eigenvectors with manufacturers' data, and by the subjective comparison of handling characteristics by experienced pilots. A visual landing display system for use in simulation which generates the pilot's forward-looking real-world dis¬play is discussed, and a special head-up, down-looking load/landing zone display is described.